U.S. patent application number 14/627244 was filed with the patent office on 2016-02-25 for payload launcher and autonomous underwater vehicle.
The applicant listed for this patent is LOCKHEED MARTIN CORPORATION. Invention is credited to Robert P. GORDON, JR., Martin C. LEWIS, Russell M. SYLVIA, Mark E. WHALEN.
Application Number | 20160054097 14/627244 |
Document ID | / |
Family ID | 53878998 |
Filed Date | 2016-02-25 |
United States Patent
Application |
20160054097 |
Kind Code |
A1 |
SYLVIA; Russell M. ; et
al. |
February 25, 2016 |
PAYLOAD LAUNCHER AND AUTONOMOUS UNDERWATER VEHICLE
Abstract
A payload launch system is described that provides one launch
solution suitable for multiple applications. A payload, such as a
UAV, is launched from a sealed launch tube using compressed gas or
other energy source. The launch tube can be used to transport and
protect the payload from harsh environments for extended periods
prior to launch.
Inventors: |
SYLVIA; Russell M.; (South
Dartmouth, MA) ; LEWIS; Martin C.; (Plymouth, MA)
; WHALEN; Mark E.; (Rochester, MA) ; GORDON, JR.;
Robert P.; (North Attleboro, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
LOCKHEED MARTIN CORPORATION |
Bethesda |
MD |
US |
|
|
Family ID: |
53878998 |
Appl. No.: |
14/627244 |
Filed: |
February 20, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61942893 |
Feb 21, 2014 |
|
|
|
Current U.S.
Class: |
124/73 ;
124/41.1; 124/56 |
Current CPC
Class: |
B63G 2008/004 20130101;
F42B 15/105 20130101; F42B 14/06 20130101; B63G 8/001 20130101;
B63G 8/30 20130101; F41F 3/07 20130101; F41F 3/042 20130101; B64C
2201/08 20130101; F41B 11/80 20130101; B64F 1/04 20130101; B64C
39/024 20130101; F41B 11/72 20130101 |
International
Class: |
F41F 3/042 20060101
F41F003/042; B63G 8/30 20060101 B63G008/30; F42B 15/10 20060101
F42B015/10; F42B 14/06 20060101 F42B014/06; F41B 11/80 20060101
F41B011/80; F41B 11/72 20060101 F41B011/72; B64F 1/04 20060101
B64F001/04; B64C 39/02 20060101 B64C039/02 |
Claims
1. A payload launch system, comprising: a launch tube defining a
launch chamber, a cap releasably secured to the launch tube and
closing an open end of the launch chamber; a payload and sabot
disposed within the launch chamber, the payload is connected to the
sabot; and an energy source in the launch tube that can be
selectively applied to the payload and sabot to launch the payload
from the launch chamber.
2. The payload launch system of claim 1, wherein the energy source
comprises a source of compressed gas.
3. The payload launch system of claim 2, wherein the source of
compressed gas comprises a compressed gas storage chamber fluidly
separated from the launch chamber by a valve that is positioned to
selectively place the compressed gas storage chamber in fluid
communication with the launch chamber.
4. The payload launch system of claim 1, wherein the payload is an
unmanned aerial vehicle.
5. The payload launch system of claim 1, further comprising a
stowed, deployable lift bag in the launch tube.
6. The payload launch system of claim 1, further comprising a
controller electronics assembly in the launch tube, the controller
electronics assembly includes a tilt sensor.
7. The payload launch system of claim 1, further comprising a
propulsion mechanism connected to the launch tube that propels the
launch tube.
8. The payload launch system of claim 7, wherein the propulsion
mechanism comprises a propeller; and further comprising a motor
connected to the propeller, and one or more the batteries providing
power to the motor.
9. The payload launch system of claim 1, further comprising a stop
mechanism in the launch tube that prevents the sabot from being
ejected from the launch tube.
10. The payload launch system of claim 9, further comprising a
cushion in the launch tube that is engageable by the stop
mechanism.
11. The payload launch system of claim 1, wherein the cap is sealed
with the launch tube to prevent ingress of water into the launch
tube, and further comprising a manually actuated, releasable safety
device that is manually rotatable relative to the launch tube
between a locked position and an unlocked position to control
release of the cap.
12. An autonomous underwater vehicle, comprising: the payload
launch system of claim 1; and a propulsion mechanism connected to
the payload launch system.
Description
FIELD
[0001] This disclosure relates to launching payloads including, but
not limited to, unmanned aerial vehicles (UAV), and to an
underwater vehicle, such as an autonomous underwater vehicle (AUV),
that can launch the payload.
BACKGROUND
[0002] UAVs continue to increase in capability and applications.
Transporting and launching small, fragile UAVs can be tedious and
time consuming to setup and launch in certain environments.
Transport, setup and launch can be extremely challenging in remote
covert locations or from a moving platform.
[0003] UAVs need to be transported without damaging their fragile
structures and time is needed to prepare for flight and launch.
Launching UAVs becomes difficult when launching from remote covert
locations in harsh environments. Also, UAV's and existing rail type
launch systems are not designed to handle prolonged prelaunch
exposure in harsh environments. Launching a UAV from a covert
underwater platform, moving or not moving, is one example of a
harsh environment.
[0004] Mobile land vehicles operating in the harsh environments do
not currently carry rapid, ready to launch UAV systems or utilize
them as a forward scout that are instantly deployed from inside
their vehicles. This becomes a particular problem in urban
environment where snipers or RPGs await an ambush on roof tops.
[0005] Autonomous boats patrolling the perimeter of an anchored
ship currently have no method to put a UAV in the air to extend an
aerial eye beyond the perimeter and on inbound traffic.
[0006] Currently UAVs are launched from moving and fixed platforms.
Small UAVs can be launched by hand. The launchers used for moving
and fixed platforms are mostly rail type catapults that take time
to setup, while the rail and UAV are fully exposed to the
environment. Hand launching needs a man to physically throw the
small UAV into the air, which might not be an option under fire or
in a rapidly moving vehicle. There are some specialty launchers
specifically designed to launch UAVs from underwater but they
cannot be used universally for any other application.
[0007] In addition, as demand for remote autonomous operations
increases, it becomes difficult and expensive to deliver UAVs to a
final covert launch position. The endurance of small UAVs is
limited by the battery supply they can carry. Further, current
launch techniques of UAVs is typically either a manned operation or
requires set-up of a rail type launch system. In the case of manned
UAV launch, operators position themselves at the final launch point
and release the UAV. This creates a situation of putting humans in
harm's way and potentially losing the advantage of surprise.
SUMMARY
[0008] A payload launch system is described that provides one
launch solution suitable for multiple applications. In the
described examples, a payload is launched from a sealed launch tube
using an energy source including, but not limited to, compressed
gas, a spring, or the like and combinations thereof. The launch
tube can be used to transport and protect the payload from harsh
environments for extended periods prior to launch.
[0009] The payload can be any unmanned payload that one may wish to
transport and launch, and protect the payload from harsh
environments for extended periods of time prior to launch. In one
non-limiting embodiment, the payload is a UAV.
[0010] As used herein, a UAV can be any unmanned aerial vehicle
designed to fly or float in the air. In one specific embodiment,
the UAV can be a folding version sized to fit within the launch
tube, with spring loaded, foldable airfoils and a battery powered
propulsion system such as a propeller.
[0011] In addition, an underwater vehicle is described that
integrates the payload launch system therein to permit subsurface
launching of the payload. The underwater vehicle can be any
underwater vehicle, manned or unmanned, designed to operate
underwater and that can carry and launch the payload launch
system.
[0012] In one embodiment, the underwater vehicle can be an AUV,
manned or unmanned.
[0013] The term "unmanned" used herein means the payload, such as
the UAV and in some embodiments the AUV, do not physically carry a
human operator. In some embodiments, the payload and the AUV can be
completely autonomous so that their operation is preprogrammed with
no remote human control or operational intervention. In another
embodiment, the payload and the AUV are semi-autonomous so that
some or all of their operation is controlled remotely by one or
more human operators. In some embodiments, the AUV or other
underwater vehicle carries one or more human operators that control
some or all of their operation.
[0014] Both the payload and the underwater vehicle can send data,
such as sensor data, video, camera images, and the like, to a
remote location for analysis or forwarding to another location.
[0015] In one embodiment, the payload can be a small folding
version of a UAV with spring loaded, folding airfoils disposed,
along with a sabot, in the fully sealed launch tube. Prior to
launch, the launch tube can be pressurized with compressed gas to
launch the sabot and the UAV from the launcher. The compressed gas
can be any suitable compressible gas including, but not limited to,
air, argon, nitrogen, helium, or the like. In another embodiment,
an energy source other than or in addition to compressed gas can be
used to affect launch, such as a spring.
[0016] In one embodiment, the payload launch system comprises a
pre-packaged payload and a sabot loaded into a launch tube. A
sealed, auto-release cap is fitted at an end of the launch tube
sealing it from harsh environments and prevent ingress of water
into the launch tube prior to launch. The system is charged with
compressed gas and ready to launch locally or from a remote
location. The payload launch system can be physically placed where
needed for prolonged exposure.
[0017] The described payload launch system can be used in the
following exemplary applications including but not limited to:
[0018] Fixed land station--Manned or unmanned remote base. [0019]
Moving land vehicle--Externally mounted to transports, tanks etc.
[0020] Fixed moored surface buoy in rivers, bays and
oceans--Deployed remotely to monitor shipping and local traffic.
[0021] Fixed underwater moored buoy in rivers, bays and
oceans--Covert deployments of unmanned platforms. [0022] Moving
surface water platforms, boats and ships--Manned and unmanned
platforms. [0023] Moving underwater platforms--Manned and unmanned
platforms.
[0024] In an embodiment, the payload launch system can be towed
underwater by a manner or unmanned underwater vehicle, such as an
AUV. The payload launch system can be positioned on the vehicle at
any location that permits either release of the payload launch
system for launching of the payload or permits launch of the
payload while attached to the vehicle. Example positions include on
top of the vehicle, below the vehicle, or stowed in or within the
vehicle. The payload launch system could also be stowed in the
water on any underwater fixed platform.
DRAWINGS
[0025] FIG. 1 is a side view of a payload launch system described
herein prior to launch.
[0026] FIG. 2 is a cross-sectional side view of the payload launch
system of FIG. 1.
[0027] FIG. 3 is a side view similar to FIG. 1 but with an optional
lift bag deployed for use in a water launch.
[0028] FIG. 4 is a cross-sectional side view of the payload launch
system of FIG. 3.
[0029] FIG. 5 is a detailed cross-sectional side view of the
payload launch system.
[0030] FIG. 5A is a detailed view of the portion A in FIG. 5.
[0031] FIG. 5B is a detailed view of the portion B in FIG. 5A.
[0032] FIG. 6 is a cross-sectional side view of another embodiment
of a payload launch system.
[0033] FIG. 7 is an end view of the payload launch system of FIG. 6
with the service cap removed.
[0034] FIG. 8 illustrates operation of a tilt sensor to control
launch of the payload.
[0035] FIG. 9 illustrates a payload launch system described herein
incorporated into an AUV.
[0036] FIG. 10 is partial cross-sectional side view of an AUV
incorporating the payload launch system.
[0037] FIG. 11 is a side view similar of the AUV with the lift bag
deployed.
[0038] FIG. 12 is a detailed, partial cross-sectional side view of
the AUV of FIG. 10.
[0039] FIG. 13 is a cross-sectional side view of another embodiment
of a payload launch system prior to launch, with the upper end of
the launch system not shown in detail.
[0040] FIG. 14 is a partial cross-sectional side view of the upper
end of the payload launch system of FIG. 13 after launch with the
lid removed for clarity.
[0041] FIG. 15 is an exploded view of a ram or sabot assembly used
in the payload launch system of FIGS. 13 and 14.
[0042] FIGS. 16A and 16B are perspective views of the upper end of
the launch system of FIGS. 13-15 prior to launch, with the upper
end of the launch tube including a manually actuated safety ring,
with the safety ring in a locked position and an unlocked position,
respectively.
[0043] FIG. 17 is a perspective view of the muzzle and lid of the
payload launch system of FIGS. 13-16, with the lid in an open
position.
[0044] FIG. 18 is a perspective view of the upper end of the
payload launch system prior to launch showing relative positions
between the lid and an end of a push rod for opening the lid.
[0045] FIG. 19 is a perspective view of a portion of the payload
launch system prior to launch.
[0046] FIG. 20 is a perspective view of a portion of the payload
launch system after launch.
DETAILED DESCRIPTION
[0047] A payload launch system is described that provides one
launch solution suitable for multiple applications. In the
described launch system, a payload is launched from a sealed launch
tube using a suitable energy source, such as compressed gas. Other
energy sources, such as a spring, could also be used in place of or
in addition to the compressed gas.
[0048] The payload can be any unmanned payload that one may wish to
transport and launch, and protect the payload from harsh
environments for extended periods of time prior to launch. To
simplify the description, the payload will hereinafter be described
as a UAV that is designed to be launched into the air and once
launched, fly under its own power performing a desired mission.
However, it is to be realized that the payload is not limited to a
UAV, and can include, but is not limited to, other payloads such as
a balloon with a sensor package, munitions and many others.
[0049] In one embodiment, the payload launch system can be used on
land to launch the UAV from land, while the launch system is
stationary or moving. In another embodiment, the payload launch
system can be used on or in water to launch the UAV from the water,
while the launch system is stationary or moving.
[0050] With reference to FIGS. 1 and 2, one embodiment of a payload
launch system 10 is illustrated. The launch system 10 is shown in a
stowed, ready to launch configuration. The launch system 10
includes a sealed launch tube 12 that is sealed at its bottom end
by a service cap 14 and sealed at its top end by a releasable cap
16 that seals the top end of the tube 12 to prevent ingress of
water into the tube 12. The tube 12 can be made from any material,
for example steel, aluminum, or plastic, suitable for withstanding
launch pressure and the environments within which the launch system
10 is used.
[0051] In the illustrated example, the tube 12 includes an outer
pressure hull 18 and an inner pressure hull 20 spaced inwardly from
the outer pressure hull 18. The interior space of the tube 12
between the outer hull 18 and the inner hull 20 forms a chamber 22
for holding compressed gas. In this example, the compressed gas can
be introduced into the chamber 22 via a filler port 24 in the
service cap 14. The service cap 14 can also include an electronics
connection 26, for example an Ethernet port, permitting I/O
connections to electronics within the launch system 10.
[0052] An electronically operable dump valve 28 is provided in the
inner pressure hull 20. The dump valve 28 releases the compressed
gas from the compressed gas chamber 22 to the base of the launch
tube to cause launch of the payload.
[0053] Within the inner pressure hull 20 is a UAV 30. In the
illustrated example, the UAV 30 has spring loaded, foldable
airfoils and a battery powered propulsion system such as a
propeller, small enough to permit the UAV to fit within the launch
tube 12. UAV's with foldable airfoils that are small enough to fit
within the launch tube are known in the art.
[0054] The UAV 30 is fitted within a sabot 32. The sabot 32
protects the UAV 30 during storage and launch, and falls away when
the UAV is launched and its airfoils extend to take flight. The
construction and function of sabots to protect payloads during
launch is well known in the art.
[0055] The sabot 32 includes a base 34, a top plate 36, and push
rods 38 that extend from the base 34 to the top plate 36. Further
information on the sabot 32 is discussed below with respect to
FIGS. 5, 5A and 5B.
[0056] FIG. 2 also shows the launch system 10 as including one or
more batteries 40. The batteries 40 provide power for powering
various components on the launch system 10 such as the dump valve
28, a controller electronics assembly 42 that can include a tilt
sensor, and other elements discussed below.
[0057] In some embodiments, it may be desirable to pressurize the
service section of the launch tube 12 where the battery 40 and the
control electronics 42 reside to increase the compressed volume
reservoir or decrease the overall size of the launch tube. In such
an embodiment, the battery 40 and control electronics 42 would need
to be configured to handle the pressure or be removed.
[0058] The launch system 10 described so far is suitable for
launching the UAV 30 from land or from a stable platform such as a
vehicle, surface ship, or other platform, with the system 10
illustrated in FIGS. 1 and 2 shown in a stowed, ready to launch
configuration.
[0059] For a water launch, the launch system 10 can also include a
stowed, deployable lift bag 50 arranged in the cap 16 as depicted
in FIG. 2. One or more compressed gas cartridges 52, for example
CO.sub.2 cartridges, can be provided to deploy and inflate the lift
bag 50. The construction and operation of lift bags to cause
objects to float in water are well known in the art.
[0060] FIGS. 3 and 4 illustrate the lift bag 50 deployed for a
water launch of the UAV, with the lift bag 50 causing the launch
system to float at the surface of the water with the upper end of
the tube 12 above the surface of the water as illustrated in FIG.
8. It is to be realized that when launching from land or out of
water applications, the lift bag 50 and gas cartridges 52 are
optional and need not be included.
[0061] In water launch embodiments where the system 10 is intended
to be re-useable, the lift bag 50 can retain its inflated condition
once deployed so that the launch tube 12 remains floating in the
water after launching the UAV 30 allowing the tube 12 to be
retrieved. In other water launch embodiments, where the system 10
is intended to be disposable, the lift bag 50 can be provided with
a scuttle patch that causes the lift bag to deflate, automatically
or via actuation, after a period of time so that the launch tube 12
sinks.
[0062] With reference to FIGS. 5, 5A and 5B, release of the UAV
from the top of the tube 12 will now explained. As seen in FIG. 5A,
the releasable cap 16 is provided with one or more seals 54, for
example O-rings, that create a fluid-tight seal between the cap 16
and the inner pressure hull 20 and the end of the tube 12. With
reference to FIG. 5B, the interior surface of the inner pressure
hull 20 is formed with a locking groove 60, for example a
circumferentially continuous groove, that receives one or more
release tabs 62 provided on the cap 16, for example adjacent the
base end thereof. When the cap 16 is installed into the tube 12,
the tab(s) 62 snaps into place into the groove 60 locking the cap
16 in the tube 12.
[0063] In the ready to launch configuration, there is a gap 64
between the top of the sabot top plate 36 and the base of the cap
16. The perimeter of the sabot top plate 36 includes an upwardly
protruding lip 66 with an inner surface 68 that is angled
outwardly. When pressurized gas is introduced into the inner
pressure hull via the dump valve 28, the compressed gas starts to
force the sabot 32 and the UAV 30 upwardly. The sabot push rods 38
force the top plate 36 toward the cap 16. As this occurs, the
angled inner surface 68 of the lip 66 engages the tab(s) 62,
forcing the tab(s) radially inwardly and removing them from the
groove 60. The cap 16 is therefore free to release from the tube 12
as the sabot 32 and the UAV 30 continue to be forced upwardly by
the compressed gas.
[0064] To prevent inadvertent launch from shocks and other loadings
during transport and storage, a lock mechanism 70 can be provided
that prevents the sabot top plate 36 from moving toward the cap 16
until the lock mechanism 70 is released. Any lock mechanism 70 that
can perform this function can be used. In one non-limiting example,
the lock mechanism 70 can comprise a solenoid actuated pin that
when activated, extends into the gap 64 to prevent movement of the
top plate 36 toward the cap 16. When launch is desired, the lock
mechanism 70 is removed to permit the movement and release of the
tab(s) 62.
[0065] With reference now to FIGS. 6 and 7, another embodiment of a
payload launch system 100 is illustrated. Features in common with
the system 10 are referenced using the same reference numerals.
Unlike the system 10, the launch system 100 includes a sealed,
single wall launch tube 102 that is sealed at its bottom end by the
service cap 14 and sealed at its top end by the releasable cap 16.
The tube 102 can be made from any material, for example steel,
aluminum, or plastic, suitable for withstanding launch pressure and
the environments within which the launch system 100 is used.
[0066] The tube 102 includes an outer pressure hull 108, but no
inner pressure hull 20 as in the system 10. Instead, a separate
pressure tank 110 is disposed within the tube 102 which can hold
the pressurized gas. The tank 110 forms a pressurized gas chamber.
Release of the pressurized gas from the tank 110 pressurizes the
interior of the tube 102 causing the UAV (or other payload) and
sabot to be launched from the tube 102 in a manner similar to that
discussed above for the system 10.
[0067] The system 100 can also include a communication antenna 112
through which communications can be sent to and from the system
100. For example, launching of the UAV can be triggered upon
receipt of a launch signal; deflation of the lift bag 50 can occur
upon receipt of a suitable signal; the system 100 can transmit
location data, sensory data, status data, and other data to a
receiving location; and the like.
[0068] FIG. 7 shows a bottom view of the launch tube 102 with the
service cap 14 removed. The pressure tank 110 is connected to a
manifold 114 which can include the launch dump valve 28 for
pressurizing the interior of the tube 102 to launch the UAV, a
solenoid valve 116 to direct pressurized gas from the tank 110 to
the lift bag for inflating the lift bag 50 (instead of using a
separate CO.sub.2 canister(s) as in the system 10), a fill valve
118 used for charging the tank 110 with pressurized gas, and a
pressure gauge 120.
[0069] In another embodiment, an energy source in the form of a
compressed, releasable spring is used in place of or to supplement
the compressed gas to affect launch. The spring can cause release
of the cap 16 and push the sabot and UAV from the launch tube.
[0070] The system 100 can also include a communication antenna 112
through which communications can be sent to and from the system
100. For example, launching of the UAV can be triggered upon
receipt of a launch signal; deflation of the lift bag 50 can occur
upon receipt of a suitable signal; the system 100 can transmit
location data, sensory data, status data, and other data to a
receiving location; and the like.
[0071] With reference now to FIGS. 13-20, another embodiment of a
payload launch system 200 is illustrated. Features in common with
the systems 10, 100 are referenced using the same reference
numerals. The system 200 includes a sealed, single wall launch tube
202 that is sealed at its bottom end by a service cap 204 and
sealed at its top end by a releasable cap 206. In FIG. 13, the top
end and the cap 206 of the launch tube 202 are not shown in detail
for sake of clarity. Instead, details of the top end and the cap
206 of the launch tube are illustrated in FIGS. 14, 16A-B, and
17.
[0072] As best seen in FIG. 13, a separate pressure tank 208 is
disposed within a chamber 209 of the system 200 which can hold the
pressurized gas. The tank 208 forms a pressurized gas chamber.
Alternatively, the chamber 209 can be pressurized so as to form a
pressurized gas chamber with the pressurized gas being released
therefrom into the launch chamber by a dump valve as described
above for FIG. 2. Release of the pressurized gas from the tank 208
and/or the chamber 209 pressurizes the interior of the launch tube
202, which pushes a ram or sabot assembly 212 upward causing an UAV
210 or other payload to be launched from the tube 202 in a manner
similar to that discussed above.
[0073] The ram or sabot assembly 212 is disposed in the launch tube
202 for pushing the AUV 210 or other payload from the tube 202. As
shown in FIGS. 13 and 19, in a pre-launch position, the assembly
212 is initially toward the bottom of the tube 202. Upon release of
the pressurized gas from the tank 208 or the chamber 209 during
launch, the pressurized gas pushes the assembly 212 upward toward
the top end to the position shown in FIG. 14, which pushes the AUV
210 out of the tube 202.
[0074] FIGS. 14 and 15 illustrate details of the assembly 212. The
assembly 212 includes a ram 214 that is slidably disposed within
the launch tube 202. A stop mechanism 216 is mounted on top of the
ram 214. The stop mechanism 216 includes a plurality of holes 218
formed therethrough in which coil springs 220 and stop pins 222 are
disposed. The springs 220 bias the stop pins 222 outwardly. A
spring stop 224 is mounted on the stop mechanism 216 and has a
central boss 226 that is removably disposed in the center of the
stop mechanism 216 that closes the inner sides of the holes 218 and
against which inner ends of the springs 220 are engaged. A cradle
228 is fixed to the top of the stop mechanism 216. The cradle 228
holds the UAV 210 or other payload in the launch position
throughout the time the UAV 210 is in the launch tube 202, for
example during storage and operation.
[0075] Referring to FIG. 14, an upper end 230 of the launch tube
202 includes a muzzle 232 fixed thereto. An inside wall 234 of the
muzzle 232 increases in diameter, compared to a diameter of the
launch tube 202, from proximate the upper end 230 to a constant
diameter section 236 that has a diameter that is greater than the
diameter of the launch tube 202. The inside wall 234 of the muzzle
232 also includes an inwardly projecting shoulder 238 that extends
radially inward beyond the wall 234 so that the shoulder 238
defines an opening that has a diameter approximately equal to or
less than the diameter of the launch tube 202. In addition, a
cushion 240, for example an elastomeric or rubber ring, is disposed
on a downwardly facing surface of the shoulder 238.
[0076] In the pre-launch position shown in FIGS. 13 and 18-19, the
spring loaded stop pins 222 are held in a retracted position within
the holes 218 of the stop mechanism 216 by the inside wall of the
launch tube 202. During a launch, the sabot assembly 212 is pushed
up the launch tube 202 to the muzzle 232 to the position shown in
FIG. 14. The increased inside diameter of the muzzle 232 permits
the stop pins 222 to be forced outwardly beyond an outer surface of
the stop mechanism 216 by the springs 220. The extended stop pins
220 then contact the cushion 240 which stops the sabot assembly 212
and retains the sabot assembly 212 in the launch tube 202 after the
sabot assembly 212 pushes the AUV 210 out of the launch tube 202.
The described sabot assembly 212 provides a number of advantages.
For example, the sabot assembly 212 remains within the launch tube
so there is no loose launch debris. In addition, the sabot also
seals the launch tube to prevent entry of water into the launch
tube. In addition, the cushion 240 helps to muffle launch
noise.
[0077] FIGS. 16A and 16B illustrate the upper end 230 of the launch
tube 202 prior to launch with the muzzle 232 in place. A manually
actuated safety ring 249 is rotatably mounted on an outside surface
of the muzzle (also see FIG. 14). The safety ring 249 interacts
with a lid 250 as discussed further below to prevent premature
opening of the lid 250 and ejection of the payload from the launch
tube 202. The lid 250 seals the launch tube 202 prior to launch by
engaging with a seal 251 that is disposed at the upper end of the
muzzle 232 (see FIGS. 14 and 17), and is opened during launch to
permit ejection of the AUV or other payload.
[0078] To increase safety, prevent accidental or premature ejection
of the AUV or other payload, and prevent accidental opening of the
lid 250, the safety ring 249 is designed to be manually rotated
from a locked position (shown in FIG. 16A) to an unlocked position
(shown in FIG. 16B). With reference to FIGS. 16A and 16B, the
safety ring 249 includes one or more, for example three, generally
L-shaped slots 252 where a stem 254 of the slot 252 extends
somewhat circumferentially and a base 256 of the slot 252 extends
generally parallel to the longitudinal axis of the launch tube 202
or generally vertically. The stem 254 extends at an angle upward
from its point of connection with the base 256. The safety ring 249
also includes at least one, for example three, radially inwardly
extending tabs 258 that project over the opening defined by the
muzzle 232.
[0079] With continued reference to FIGS. 16A and 16B along with
FIGS. 14 and 17, the muzzle 232 further includes one or more
radially outward projecting pins 260 that are disposed in the slots
252 of the safety ring 249. As best seen in FIG. 17, the pins 260
are disposed in and extend from suitable holes 261 formed in the
muzzle 232. In addition, the muzzle 232 includes a plurality of
pins 262, for example three pins, that extend upwardly from an
upper surface 264 of the muzzle 232 radially outward of the seal
251. The pins 262 mate with and are disposed in a corresponding
plurality of holes 266 that are formed in an underside of the lid
250 as best seen in FIG. 17. Rubber grommets (not shown) or other
friction enhancing elements are disposed in the holes 266 to help
frictionally grip the pins 262 when the lid 250 is closed and the
pins 262 are disposed in the holes 266. The friction between the
pins 262 and the friction enhancing elements in the holes 266 help
hold the lid 250 closed prior to launch. During launch, the
friction can be overcome to force the lid 250 open so that the
payload can launch. Also, as seen in FIG. 17, an optional hinge 268
can be used to secure the lid 250 to the muzzle 232 so that the lid
250 remains attached to the launch tube 202 during launch so that
the lid 250 is not discarded and can be re-used.
[0080] Referring to FIGS. 16A, 16B and 17, one or more slots 270,
corresponding in number to the tabs 258 on the safety ring 249, are
formed in the lid 250. When the safety ring 249 is rotated to the
locked position shown in FIG. 16A, the slots 270 are offset from
the tabs 258 and the tabs 258 overhang the lid 250. In addition,
due to the upward angling of the stem 254 of the slot 252 and the
pins 260 sliding in the slots 252, rotation of the safety ring 249
to the position shown in FIG. 16A forces the safety ring 249
downward which compresses the lid 250 downward against the seal
251. Due to the resiliency of the seal 251, the seal 251 creates an
upward force acting on the lid 250. When the safety ring 249 is
rotated to the unlocked position shown in FIG. 16B, the tabs 258
align with the slots 270. In addition, the force from the seal 251
forces the lid 250 upward to a position ready for launch. At this
position, the only thing hold the lid 250 in place is the friction
force of the pins 262 on the muzzle 232 being held in the holes 266
in the lid 250.
[0081] As shown in FIG. 14, a push rod 242 can be mounted on the
sabot assembly 212. The push rod 242 is used to engage the lid 250
and push the lid 250 open when the sabot assembly 212 is forced
upwardly during launch. With reference to FIG. 18, prior to launch,
an upper end 280 of the push rod 242 is close to or touching the
bottom of the lid 250. During launch, the compressed gas is
released from the tank 208 or the compression chamber 209 into the
launch tube 202 underneath the sabot assembly 212, which pushes the
sabot assembly 212 upward and launching the payload from the launch
tube 202. As shown in FIG. 20, as the sabot assembly 212 is forced
upward, the end 280 of the push rod 242 forces the lid 250 open by
overcoming the friction between the pins 262 and the holes 266.
[0082] In an optional embodiment, an antenna 282, for example a GPS
antenna, can be provided on the safety lid 250 as shown in FIGS.
16A and 16B. The antenna 282 permits the UAV or other payload
within the launch tube 202 to achieve a location fix prior to
launch.
[0083] Although not illustrated in FIGS. 13-20, the system 200, if
used in water, can also utilize the lift bag 50 described with
respect to the systems 10, 100. In addition, the individual
features described with respect to any one of the systems 10, 100,
200 can be used on any one of the systems 10, 100, 200.
[0084] FIG. 8 illustrates one of the launch systems 10, 100, 200
described herein dropped into or otherwise deployed in the water,
with the lift bag 50 deployed to cause the launch tube to float at
the surface. In one embodiment where the launch system is intended
to launch from the water, once launch is initiated, the tilt sensor
of the electronics assembly sequences the launch command to a
predetermined limited angular window a so the UAV can only be
launched within the predetermined angular window. This permits the
launch system to be utilized in almost any sea state. The
predetermined limits on the angular window a can be programmed by
the user or can be communicated to the launch system once deployed
in the water.
[0085] The angular window a can be any desired window. For example,
assuming that the tilt sensor is set to an angular window a equal
to about +/-20 Degrees, the launch system will only launch the UAV
when transitioning through about +/-20 degrees of the vertical
axis. In FIG. 8, at Positions A and C, the launch system is outside
of the angular window, and will not launch. However, at Position B,
the system is within the +/-20 degree launch window and can
therefore initiate a launch.
[0086] The launch systems 10, 100, 200 described so far are systems
that are transported to the desired launch location by a separate
transport means where the launch system is then deployed from the
transport means. FIGS. 9-12 illustrate an embodiment intended for a
water launch where the launch system 10, 100, 200 can be integrated
into an underwater vehicle such as an AUV 150. The AUV 150 can
transport the launch system to a desired launch location for
launching the payload such as the UAV or other payload. The AUV can
transport the UAV or other payload covertly to a location,
decreasing the distance between the final launch position and the
target. This gives the UAV more time over the target while
increasing the distance from the manned platform from where the AUV
was launched. In addition, it does not expose the location of the
manned platform the AUV was launched from, be it a submarine,
surface vessel or aircraft. FIGS. 9-12 illustrate the launch system
as being the system 10, but the AUV 150 could be used with the
launch systems 100, 200 as well.
[0087] FIG. 9 illustrates the AUV 150 submerged under the water and
propelling itself to a desired launch location at which point the
lift bag 50 is deployed so that the launch tube floats at the
surface. The payload, such as the UAV, can then be launched. The
launch system can communicate with a platform, such as an aircraft
152, prior to or after launch, or the launch system can sense the
surrounding environment prior to or after launch.
[0088] With reference to FIGS. 10-12, the launch system portion of
the AUV 150 is similar to the previously described launch system 10
(or launch systems 100, 200) and similar elements are described
using the same reference numerals.
[0089] The AUV 150 includes a rear section 160 containing one or
more batteries, controls, and a propulsion mechanism 162 for
propelling the AUV from one location to another. The propulsion
mechanism 162 can be any propulsion mechanism capable of propelling
the AUV 150, such as a propeller driven by a motor 164 that is
powered by one or more the batteries 166 best seen in FIG. 12. The
rear section 160 can also include a steering mechanism, separate
from or integral with the propulsion mechanism, such as steerable
fins or the propeller can be steerable. In this embodiment, the
batteries 40 and a controller assembly 42 described above in the
system 10 can be replaced by the controls and the batteries in the
rear section 160 of the AUV.
[0090] Once the payload is launched, the AUV 150 can be retrieved
for re-use, or the AUV 150 can be disposable by deflating the lift
bag 50 so that the AUV 150 sinks to the bottom.
[0091] Rather than integrating the payload launch system into an
AUV, in another embodiment the payload launch system 10, 100, 200
can be towed underwater by a manned or unmanned underwater vehicle,
for example an AUV. The payload launch system 10, 100, 200 can be
positioned on the vehicle at any location that permits release of
the payload launch system for subsequent launching of the payload
or permits launch of the payload while directly attached to the
vehicle. Example positions include on top of the vehicle, below the
vehicle, or stowed in or within the vehicle. The payload launch
system 10, 100, 200 can also be towed behind the vehicle using a
tether. The payload launch system could also be stowed in the water
on any underwater fixed platform.
[0092] The launch systems 10, 100, 200 provide the following unique
features among others: [0093] A fully sealed UAV or other payload
launch tube designed for harsh remote environments on land, above
or below the surface of the water, i.e.; land, water surface and
sub-surface deployed; [0094] A multi-application launch system for
fixed, moving land and waterborne platforms; [0095] Propulsion is a
readily available compressed gas; [0096] The sealed cap has an
"auto-release" mechanism to manually unlock the cap, break the seal
and freely launch the UAV or other payload; [0097] The sabot
auto-release cap mechanism has a "shock-lock" device that may be
needed when firing the launch system from platforms utilizing a
type of launch cannon that would induce a shock that might cause
the auto-release cap to prematurely activate. The shock-lock device
blocks the movement between the sabot and the auto-release cap,
inhibiting the auto-release mechanism's movement; [0098] For
underwater applications, once launch is initiated an angular tilt
sensor can sequence the fire command to a predetermined limited
angular window so the system can be utilized in almost any sea
state; [0099] An antenna can be mounted to the launch tube; [0100]
The launch system can be expendable or reused; [0101] The launch
system can be launched from an underwater platform; [0102] The
launch system can be used on fixed or moving platforms; [0103] The
launch system can be used with folding UAV's with extendable
airfoils.
[0104] The AUV 150 provides the following unique features among
others: [0105] An AUV that launches a UAV or other payload; [0106]
An AUV with a payload comprising a UAV; [0107] A UAV that is
transported and protected inside an AUV; [0108] An unmanned method
to transport and launch a UAV covertly from the water; [0109] An
unmanned method to launch a UAV from an underwater platform in
shallow waters; [0110] An unmanned underwater aircraft carrier.
[0111] Exemplary Launch Sequence
[0112] The following is an exemplary launch sequence of the launch
system 10 assuming the payload is the UAV 30. This sequence is an
example only and other sequences can be utilized. In addition, a
somewhat similar sequence can be used for the launch systems 100,
200.
[0113] Pre-Flight Setup: [0114] The folded UAV 30 is fitted to the
sabot 34, 36, 38. [0115] The sabot and UAV are loaded into the
launch tube 12. [0116] The auto-release sealed cap 16 is snapped
into place sealing the launch tube. [0117] The gas chamber 22 is
charged with compressed gas. [0118] The system 10 is ready for
launch.
[0119] Standard Launch Sequence: [0120] The pre-launch and launch
switches are activated, for example from a human at the end of a
wire, remotely via RF or acoustic signals depending upon the
application, or automatically at the end of a predetermined time
period. [0121] The pre-launch switch warms up the UAV and gets a
GPS fix via the external antenna 112 mounted directly to the launch
tube or mounted somewhere else. The "shock lock" mechanism 70 is
unlatched readying the auto-release cap 16 for launch. Power is
provided from the on-board battery 40 or external battery depending
on the application. [0122] The launch switch energizes the dump
valve 28 with power provided from the on-board battery or external
battery depending on the application. [0123] The dump valve 28
releases the compressed gas from the stored gas chamber 22 into the
inner pressure hull 20. [0124] The sabot begins to move up the
launch tube. The top plate 36 of the sabot unlocks the tabs 62 on
the auto-release cap, and everything continues to exit the tube.
[0125] Once out of the tube, the sabot falls away as the UAV
extends its wings and takes flight.
[0126] Underwater Launch Sequence: [0127] The launch tube is
designed for harsh underwater environments and can withstand
external water pressure to a certain water depth. [0128] The same
pre-flight setup is used as above. [0129] The launch tube is
released into the water, with natural buoyancy or if additional
buoyancy is needed the lift bag 50 can be inflated, so that the
launch tube floats at the surface. [0130] The launch tube will
protrude above the water surface. [0131] Once launch is initiated,
the tilt sensor sequences the fire command to a limited angular
window so the system can be utilized in almost any sea state.
[0132] During launch, the lift bag 50 or wave damping collar will
resist the launch tubes downward sinking reaction from the launch
forces. [0133] During operation if the antenna 112 is attached to
the launch tube, the launch tube can remain on the surface to
communicate with the UAV. [0134] After operation, an operator has
the option to scuttle the launch tube by activating the scuttle
mechanism(s) on the lift bag 50 or retrieve the system and re-use
it.
[0135] The examples disclosed in this application are to be
considered in all respects as illustrative and not limitative. The
scope of the invention is indicated by the appended claims rather
than by the foregoing description; and all changes which come
within the meaning and range of equivalency of the claims are
intended to be embraced therein.
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